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 * Copyright (c) 2011, Willow Garage, Inc.
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#ifndef ROS_SUBSCRIBER_H_
#define ROS_SUBSCRIBER_H_

#include "rosserial_msgs/TopicInfo.h"
#include "msg_receiver.h"

namespace ros {

  /* ROS Subscriber
   * This class handles holding the msg so that
   * it is not continously reallocated.  It is also used by the
   * node handle to keep track of callback functions and IDs.
   */
  template<typename MsgT>
  class Subscriber: public MsgReceiver{
    public:
      typedef void(*CallbackT)(const MsgT&);
      MsgT msg;

      Subscriber(const char * topic_name, CallbackT msgCB){
        topic_ = topic_name;
        cb_= msgCB;
      }

      virtual void receive(unsigned char* data){
        msg.deserialize(data);
        this->cb_(msg);
      }

      virtual const char * getMsgType(){return this->msg.getType();}
      virtual int _getType(){return rosserial_msgs::TopicInfo::ID_SUBSCRIBER;}

    private:
      CallbackT cb_;
  };

}

#endif
